function drawpic(storage_Num,storage_state,storage_mea,storage_KF)
k = 1:storage_Num;
figure(1);hold on;
subplot(221);hold on;
plot(storage_state(1,:), storage_state(2,:), 'b-','LineWidth',2);
plot(storage_mea(1,:), storage_mea(2,:), 'g*','LineWidth',2);
plot(storage_KF(1,:),storage_KF(2,:),'ro','LineWidth',2);
legend('真实轨迹','测量轨迹','滤波轨迹');
xlabel('横坐标(m)');ylabel('纵坐标(m)');
title('滤波轨迹');
subplot(222);hold on;
plot(k, storage_state(2,:), 'b-','LineWidth',2);
plot(k, storage_mea(2,:), 'g*','LineWidth',2);
plot(k,storage_KF(2,:),'ro','LineWidth',2);
legend('真实轨迹','测量轨迹','滤波轨迹');
xlabel('测量次数');ylabel('纵坐标(m)');
title('纵坐标');
subplot(223);hold on;
plot(k, storage_state(1,:), 'b-','LineWidth',2);
plot(k, storage_mea(1,:), 'g*','LineWidth',2);
plot(k,storage_KF(1,:),'ro','LineWidth',2);
legend('真实轨迹','测量轨迹','滤波轨迹');
xlabel('测量次数');ylabel('横坐标(m)');
title('横坐标');
subplot(224);hold on;
plot(k, storage_state(3,:), 'b-','LineWidth',2);
plot(k, storage_mea(3,:), 'g*','LineWidth',2);
plot(k,storage_KF(3,:),'ro','LineWidth',2);
legend('真实轨迹','测量轨迹','滤波轨迹');
xlabel('测量次数');ylabel('速度(m/s)');
title('速度');
end